CN113928074B - Suspension system, aerocar, method and device for controlling aerocar - Google Patents
Suspension system, aerocar, method and device for controlling aerocar Download PDFInfo
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- CN113928074B CN113928074B CN202111422461.4A CN202111422461A CN113928074B CN 113928074 B CN113928074 B CN 113928074B CN 202111422461 A CN202111422461 A CN 202111422461A CN 113928074 B CN113928074 B CN 113928074B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/0416—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics regulated by varying the resiliency of hydropneumatic suspensions
Abstract
The application discloses a suspension system, a flying car, and a method and a device for controlling the flying car. In this application embodiment, when the liquid volume in the liquid storage module that hangs changes, the piston is along the inner wall of the pneumatic cylinder in the liquid storage module that hangs and is in the degree of depth direction round trip movement of pneumatic cylinder, and the open-ended length that the pull rod that connects on the piston stretches out the pneumatic cylinder changes thereupon, and then leads to the suspension system to connect the frame and the axletree of wheel between change, because the suspension system that this application embodiment provided, in the in-process that changes the height of suspension system, do not need the energy drive, but change the height of suspension system through the gravity of the frame or the wheel that suspension system connects, can the energy saving.
Description
Technical Field
The present disclosure relates to the field of aero-car technology, and more particularly, to a suspension system, an aero-car, and a method and apparatus for controlling an aero-car.
Background
Suspension systems are widely used in military and engineering vehicles, including highly active, tunable hydro-pneumatic suspensions and highly active, non-tunable hydro-pneumatic suspensions.
For a highly active adjustable hydro-pneumatic suspension, it generally includes a power source through which hydraulic oil is pumped into or out of the suspension cylinder, effecting a change in suspension dimensions.
In the related art, the suspension height adjustment is realized by an external force source, and a certain energy source is required to be consumed.
Disclosure of Invention
The application provides a suspension system, a flying car, and a method and a device for controlling the flying car.
In a first aspect, the present application provides a suspension system, the suspension system including a suspension reservoir module, a fixed reservoir module, a switch module, and a control device connected to the switch module; the suspension liquid storage module comprises a hydraulic cylinder, a piston and a pull rod fixedly connected with the piston; the hydraulic cylinder is provided with an opening, the piston is arranged in the hydraulic cylinder and can move along the inner wall of the hydraulic cylinder in the depth direction of the hydraulic cylinder, the pull rod is arranged at one side of the piston close to the opening, and the pull rod extends out of the opening and is connected with an axle of a wheel of a flying car; one end of the hydraulic cylinder, which is away from the opening, is connected with a frame of the aerocar; the side of the piston, which is away from the opening, is communicated with the cavity enclosed by the hydraulic cylinder and the fixed liquid storage module through a first passage, and a switch module is arranged on the first passage; the control device is configured to control the on-off state of the switch portion so that the liquid in the hanging liquid storage module can flow to the fixed liquid storage module or the liquid in the fixed liquid storage module can flow to the hanging liquid storage module.
In a second aspect, the present application also provides a flying car comprising a suspension system as described in the first aspect. In some embodiments, the flying car further comprises a processor and a memory storing computer program instructions that are invoked by the processor to perform the method of controlling the flying car as described in the third aspect.
In a third aspect, the present application also provides a method of controlling a flying car, for use with a flying car, the flying car including a suspension system as in the first aspect, the method comprising: receiving a control instruction for the suspension system, wherein the control instruction carries the expected height of the suspension system; acquiring the actual height of a suspension system, wherein the height of the suspension system represents the distance between a frame connected with the suspension system and an axle of a wheel; if the actual height of the suspension system is different from the expected height, the switch module in the suspension system is controlled to conduct the first passage so as to adjust the actual height of the suspension system, so that the actual height of the suspension system approaches the expected height of the suspension system.
In a fourth aspect, embodiments of the present application further provide an apparatus for controlling a flying vehicle, the apparatus comprising: the instruction receiving module is used for receiving a control instruction aiming at the suspension system, wherein the control instruction carries the expected height of the suspension system; the height acquisition module is used for acquiring the actual height of the suspension system, wherein the height of the suspension system represents the distance between a frame connected with the suspension system and an axle of a wheel; and the suspension system control module is used for controlling the switch module in the suspension system to conduct the first passage if the actual height of the suspension system is different from the expected height so as to adjust the actual height of the suspension system, so that the actual height of the suspension system approaches the expected height of the suspension system.
In a fifth aspect, the present application also provides a computer readable storage medium storing program code, wherein the program code, when executed by a processor, performs the method of controlling a flying car according to the third aspect.
In a sixth aspect, the present application also provides a computer program product for performing the method of controlling a flying car according to the third aspect.
The application provides a suspension system, a flying car and a method and a device for controlling the flying car, wherein the suspension system comprises a suspension liquid storage module, a fixed liquid storage module, a switch module and a control device connected with the switch module; the suspension liquid storage module comprises a hydraulic cylinder, a piston and a pull rod fixedly connected with the piston; the hydraulic cylinder is provided with an opening, the piston is arranged in the hydraulic cylinder and can move along the inner wall of the hydraulic cylinder in the depth direction of the hydraulic cylinder, the pull rod is arranged at one side of the piston close to the opening, and the pull rod extends out of the opening and is connected with an axle of a wheel of a flying car; one end of the hydraulic cylinder, which is away from the opening, is connected with a frame of the aerocar; the side of the piston, which is away from the opening, is communicated with the cavity enclosed by the hydraulic cylinder and the fixed liquid storage module through a first passage, and a switch module is arranged on the first passage; the control device is configured to control the on-off state of the switch module, so that liquid in the suspension liquid storage module can flow to the fixed liquid storage module or liquid in the fixed liquid storage module can flow to the suspension liquid storage module, when the volume of liquid in the suspension liquid storage module changes, the piston moves back and forth along the inner wall of the suspension liquid storage module in the depth direction of the hydraulic cylinder, the length of an opening of the pull rod connected to the piston, which extends out of the hydraulic cylinder, changes accordingly, and further the distance between a frame connected with the suspension system and an axle of a wheel changes.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the description of the examples will be briefly introduced below, it being obvious that the drawings in the description below are only some examples of the present application, and that other drawings can be obtained from these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of a suspension system provided by one example of the present application.
Fig. 2 is a schematic diagram of a suspension system provided by one example of the present application.
Fig. 3 is a flow chart of a method of controlling a flying car provided in one example of the present application.
Fig. 4 is a flow chart of a method of controlling a flying car provided in another example of the present application.
Fig. 5 is a block diagram of an apparatus for controlling a flying car provided in one example of the present application.
Fig. 6 is a block diagram of a flying car provided in one example of the present application.
Fig. 7 is a block diagram of a flying car according to an example of the present application.
Fig. 8 is a block diagram of a computer-readable storage medium provided by an example of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In order to better understand the solution of the present application, the following description will make clear and complete description of the technical solution in the examples of the present application with reference to the accompanying drawings in the present application. It is apparent that the described examples are only some, but not all, examples of the present application. All other examples, which a person skilled in the art would obtain without making any inventive effort, are within the scope of the protection of the present application based on the examples in this application.
As shown in fig. 1, the present example also provides a suspension system 100, where the suspension system 100 includes a fixed reservoir module 11, a suspension reservoir module 12, a switch module 13, and a control device 14 connected to the switch module 13.
The fixed reservoir module 11 is formed with an opening. In some examples, the stationary reservoir module 11 is a cylinder with an opening formed at a bottom end thereof remote from the ground when the flying car is parked on the ground. In some examples, the stationary reservoir module 11 is a prismatic body, the bottom end of which, when the flying car is parked on the ground, is formed with an opening away from the ground. In still other examples, the stationary reservoir module 11 includes a first portion and a second portion, the first portion and the second portion being in communication, the second portion being formed with an opening away from a bottom surface of the wheel when the flying car is parked on the ground. Optionally, the first part is a cylinder, and the second part is a truncated cone; alternatively, the first portion is a prism and the second portion is a pyramid. In the embodiment of the present application, the fixed liquid storage module 11 is only taken as a prism for illustration. In popular terms, the fixed liquid storage module 11 is a container with an upward opening. When the car is parked on the ground, the direction of the axle 16 directed from the frame 15 to the wheels is downward, and the direction of the axle 16 directed from the wheels to the frame 15 is upward.
The size and height of the bottom of the fixed liquid storage module 11 can be set according to the volume of the liquid to be contained. In addition, the material of the fixed liquid storage module 11 may be a metal material, a plastic material, or the like, and the fixed liquid storage module 11 is illustratively a steel pipe material. The liquid contained in the fixed liquid storage module 11 can be water or gasoline. In the embodiment of the present application, the liquid contained in the fixed liquid storage module 11 is only taken as gasoline as an example for explanation. In the embodiment of the present application, the fixed liquid storage module 11 is an oil tank of a flying car.
The suspension reservoir module 12 is suspended between a frame 15 of the flying car and an axle 16 of the wheel. The suspension reservoir module 12 includes a hydraulic cylinder 121, a piston 122, and a pull rod 123 fixedly attached to the piston 122.
The hydraulic cylinder 121 is formed with an opening. In some examples, hydraulic cylinder 121 is a cylinder with an opening formed near the bottom surface of the wheel. In other examples, hydraulic cylinder 121 is a prismatic body that is formed with an opening near the ground of the wheel. In still other examples, hydraulic cylinder 121 includes a third portion and a fourth portion that communicate and that are formed with an opening near the bottom surface of the wheel. Optionally, the third part is a cylinder, and the fourth part is a truncated cone; alternatively, the third portion is a prism and the fourth portion is a pyramid. In the embodiment of the present application, the hydraulic cylinder 121 is merely exemplified as a cylinder. In popular terms, the cylinder 121 is a container with an opening downwards.
The inner diameter of the hydraulic cylinder 121 may be set according to the volume of liquid to be contained. The depth of the hydraulic cylinder 121 is actually determined according to the height adjustment range of the suspension system 100. The height adjustment range of the suspension system 100 is greater than zero and less than a boundary value, where the boundary value refers to the difference between the maximum height and the minimum height of the suspension system 100. The height of suspension system 100 refers to the distance between the frame 15 to which it is attached and the axle 16 of the wheel. In some embodiments, the depth of hydraulic cylinder 121 is greater than the boundary value described above. Optionally, the depth of the hydraulic cylinder 121 is the sum of the above-mentioned boundary value and the thickness of the piston 122. Illustratively, the hydraulic cylinder 121 has an inner diameter of 20cm and a depth of 50cm. Further, the material of the hydraulic cylinder 121 may be a metal material, a plastic material, or the like, and the hydraulic cylinder 121 is illustratively a steel pipe material. The liquid contained in the hydraulic cylinder 121 may be water or gasoline. In the embodiment of the present application, the description will be given taking the liquid contained in the hydraulic cylinder 121 as an example.
The piston 122 is provided inside the hydraulic cylinder 121, and is movable back and forth in the depth direction of the hydraulic cylinder 121 along the inner wall of the hydraulic cylinder 121. The size of the piston 122 is slightly smaller than or equal to the inner diameter of the hydraulic cylinder 121 to avoid leakage of the liquid contained in the hydraulic cylinder 121 from the edge of the piston 122. The position of the piston 122 in the hydraulic cylinder 121 is actually determined according to the volume of the liquid contained in the hydraulic cylinder 121. The greater the volume of fluid held by the cylinder, the closer the piston 122 is to the opening of the cylinder 121.
In some embodiments, a side of the piston 122 adjacent to the opening of the hydraulic cylinder 121 is provided with a fixing portion (not shown in the figures) movably connected to a side wall of the hydraulic cylinder 121, the fixing portion being configured to fix a position of the piston 122 in the hydraulic cylinder 121. If there is a need for height adjustment of the suspension system 100, the fixture is controlled to loosen from the inner wall of the hydraulic cylinder 121 so that the piston 122 can move back and forth along the depth direction of the hydraulic cylinder 121. If there is no height adjustment requirement for the suspension system 100, the fixing member is engaged with the inner wall of the hydraulic cylinder 121, so that the position of the piston 122 is fixed, and the change of the height of the suspension system 100 when there is no height adjustment requirement due to the movement of the piston 122 is avoided.
The pull rod 123 is disposed on a side of the piston 122 near the opening. The connection position of the pull rod 123 and the piston 122 can be set according to actual needs. Illustratively, a pull rod 123 is fixedly coupled to a central location of the piston 122. The length of the tie rod 122 is actually determined according to the height adjustment range of the suspension system 100. Specifically, the length of the tie rod 123 is equal to the above-described boundary value.
The tie rod 123 protrudes from the opening of the hydraulic cylinder 121 and is connected to the axle 16 of the wheel of the flying car. The end of hydraulic cylinder 121 facing away from the opening is connected to frame 15 of the flying car.
The side of the piston 122 remote from the opening of the cylinder 121 encloses a chamber 124 with the cylinder 121. Specifically, the bottom, side walls of cylinder 121 and the surface of piston 122 remote from the opening of cylinder 121 form a chamber 124. The chamber 124 communicates with the fixed reservoir module 11 so that the liquid contained in the hydraulic cylinder 121 can flow to the fixed reservoir module 11, or the liquid contained in the fixed reservoir module 11 can flow to the hydraulic cylinder 121.
The cavity 124 is communicated with the fixed liquid storage module 11 through a first passage, and the first passage is provided with a switch module 13. Optionally, an inner wall of the hydraulic cylinder 121 surrounding the synthetic chamber 124 is formed with a small hole, which is connected to the fixed reservoir module 11 through a first conduit, and the small hole and the first conduit, that is, a first passage between the chamber 124 and the fixed reservoir module 11. The aperture of the small hole is the same as the diameter of the first conduit to avoid leakage of liquid from where the small hole connects with the first conduit.
The first passage is provided with the switch module 13, when the switch module 13 is opened, the first passage is conducted, and liquid contained in the hydraulic cylinder 121 can flow to the fixed liquid storage module 11, or liquid contained in the fixed liquid storage module 11 can flow to the hydraulic cylinder 121. When the switch module 13 is closed, the first passage is closed, the liquid contained in the hydraulic cylinder 121 cannot flow to the fixed liquid storage module 11, and the liquid contained in the fixed liquid storage module 11 can also flow to the hydraulic cylinder 121.
Optionally, the switch module 13 comprises a valve, and the control device 14 is further configured to control the opening size of the valve to control the flow rate of the liquid between the hanging liquid storage module 12 and the fixed liquid storage module 11. The size of the opening of the valve is in positive correlation with the flow rate of the liquid, the smaller the opening of the valve is, the smaller the flow rate of the liquid is, and the larger the opening of the valve is, the larger the flow rate of the liquid is. By the mode, the opening size of the valve can be controlled to control the flow rate of liquid.
The control device 14 is configured to control the on-off state of the switch module 13 such that the liquid in the suspension reservoir module 12 flows to the fixed reservoir module 11 or the liquid in the fixed reservoir module 11 flows to the suspension reservoir module 12, thereby controlling the distance between the axle 16 of the wheel and the frame 15.
In the present embodiment, the suspension reservoir module 12 adjusts the distance between its attached frame 15 and the axle 16 of the wheel by the volume of liquid it holds. The volume of liquid stored by the suspension reservoir module 12 is positively correlated to the distance between the frame 15 to which the suspension reservoir module 12 is connected and the axle 16 of the wheel. That is, the larger the volume of liquid stored in the suspension reservoir module 12, the larger the distance between the frame 15 to which the suspension reservoir module 12 is connected and the axle 16 of the wheel; the smaller the volume of liquid stored by the suspension reservoir module 12, the smaller the distance between the frame 15 to which the suspension reservoir module 12 is connected and the axle 16 of the wheel.
Based on the above principle, the control device 14 controls the switch module 13 to conduct the first passage, so that the liquid in the fixed liquid storage module 11 flows to the suspension liquid storage module 12, thereby increasing the liquid volume in the suspension liquid storage module 12, and increasing the distance between the frame 15 connected with the suspension liquid storage module 12 and the axle 16 of the wheel. The control device 14 also controls the switch module 13 to conduct the first passage so that the liquid in the suspension liquid storage module 12 flows to the fixed liquid storage module 11 to reduce the liquid volume in the suspension liquid storage module 12, thereby reducing the distance between the frame 15 connected with the suspension liquid storage module 12 and the axle 16 of the wheel.
In some embodiments, when the flying car is traveling on land, the control device 14 is configured to control the switch module 13 to open the first passage in response to the first control command to allow the liquid in the suspension reservoir module 12 to flow to the stationary reservoir module 11, the length of the extension opening of the tie rod 123 is reduced, and the distance between the axle 16 of the wheel and the frame 15 is reduced. The first control instruction is for instructing to reduce the height of the suspension system 100. When the flying car is traveling on land, when the switch module 13 is turned on, since the suspension system 100 is pulled by the sprung mass (i.e., the frame of the flying car), the liquid in the suspension reservoir module 12 flows to the fixed reservoir module 11, the liquid contained in the suspension reservoir module 11 decreases, and then the piston 122 moves in a direction away from the opening, the length of the pull rod 123 extending out of the opening decreases, and the distance between the frame 15 to which the suspension system 100 is connected and the axle 16 of the wheel decreases.
In other embodiments, when the flying vehicle is traveling in the air, the control device 14 is configured to control the switch module 13 to open the first passage in response to the first control command to allow the liquid in the stationary liquid storage module 11 to flow to the suspension liquid storage module 12, the length of the extension opening of the tie rod 123 increases, and the distance between the axle 16 of the wheel and the frame 15 increases. The second control instruction is for instructing to reduce the height of the suspension system 100. When the flying car is driven in the air, when the switch module 13 is opened, because the suspension system 100 is subjected to the gravity action of the wheels, a siphoning phenomenon is generated, the liquid in the fixed liquid storage cylinder 11 is sucked into the suspended liquid storage module 12, the liquid contained in the suspended liquid storage module 12 is increased, then the piston 122 moves towards the direction of the opening, the length of the pull rod 123 extending out of the opening is increased, and the distance between the frame 15 connected with the suspension system 100 and the axle 16 of the wheels is increased.
In summary, the suspension system provided by the embodiment of the application comprises a suspension liquid storage module, a fixed liquid storage module, a switch module and a control device connected with the switch module; the suspension liquid storage module comprises a hydraulic cylinder, a piston and a pull rod fixedly connected with the piston; the hydraulic cylinder is provided with an opening, the piston is arranged in the hydraulic cylinder and can move along the inner wall of the hydraulic cylinder in the depth direction of the hydraulic cylinder, the pull rod is arranged at one side of the piston close to the opening, and the pull rod extends out of the opening and is connected with an axle of a wheel of a flying car; one end of the hydraulic cylinder, which is away from the opening, is connected with a frame of the aerocar; the side of the piston, which is away from the opening, is communicated with the cavity enclosed by the hydraulic cylinder and the fixed liquid storage module through a first passage, and a switch module is arranged on the first passage; the control device is configured to control the on-off state of the switch module, so that liquid in the suspension liquid storage module can flow to the fixed liquid storage module or liquid in the fixed liquid storage module can flow to the suspension liquid storage module, when the volume of liquid in the suspension liquid storage module changes, the piston moves back and forth along the inner wall of the suspension liquid storage module in the depth direction of the hydraulic cylinder, the length of an opening of the pull rod connected to the piston, which extends out of the hydraulic cylinder, changes accordingly, and further the distance between a frame connected with the suspension system and an axle of a wheel changes.
Referring in conjunction to fig. 2, a schematic diagram of another suspension system shown in an embodiment of the present application is shown. As in the embodiment of fig. 1, the suspension system 100 also includes a stationary reservoir module 11 and a suspension reservoir module 12. The suspension reservoir module 12 includes a hydraulic cylinder 121, a piston 122, and a pull rod 123 fixedly attached to the piston 121. The hydraulic cylinder 121 is formed with an opening. The piston 122 is provided inside the hydraulic cylinder 121, and is movable back and forth in the depth direction of the hydraulic cylinder 121 along the inner wall of the hydraulic cylinder 121. The pull rod 123 is disposed on a side of the piston 122 near the opening. The tie rod 123 protrudes from the opening of the hydraulic cylinder 121 and is connected to the axle 16 of the wheel of the flying car.
Unlike the embodiment shown in fig. 1, the switch module 13 includes a first control valve 231 and a second control valve 232, and the suspension system 100 further includes an accumulator module 25.
The first control valve 231 is disposed in the first passage.
The chamber 124 enclosed by the piston 123 and the hydraulic cylinder 121 on the side facing away from the opening communicates with the accumulator module 25 via a second passage, and a second control valve 232 is provided in the second passage. Optionally, the inner wall of the hydraulic cylinder 121 surrounding the synthetic chamber 124 is formed with a small hole, which is connected to the stationary reservoir module 11 by a second conduit, the small hole being in communication with a second conduit, i.e. a second passage between the chamber 124 and the energy storage module 25. The aperture of the small hole is the same as the diameter of the second conduit to avoid leakage of liquid from where the small hole connects with the second conduit.
The control device 14 is further configured to control the on-off state of the second control valve 232 such that the liquid in the hanging reservoir module 12 can flow to the energy storage module 25 or the liquid in the energy storage module 25 can flow to the hanging reservoir module 12. When the second control valve 232 is opened, the second passage is turned on, and the liquid contained in the hydraulic cylinder 121 can flow to the accumulator module 25, or the liquid contained in the accumulator module 25 can flow to the hydraulic cylinder 121. When the second control valve 232 is closed, the second passage is blocked, and the liquid contained in the hydraulic cylinder 121 cannot flow to the energy storage module 25, and the liquid contained in the energy storage module 25 cannot flow to the hydraulic cylinder 121.
In the embodiment of the present application, the control device 14 is configured to control the second control valve 232 to be opened when the flying car is running on the ground, so that the liquid contained in the hydraulic cylinder 121 can flow to the energy storage module 25, or the liquid contained in the energy storage module 25 can flow to the hydraulic cylinder 121. At this time, when the flying car collides with an obstacle, the wheels are lifted up by the obstacle, and the liquid in the hydraulic cylinder 121 can flow into the energy storage module 25 at this time, so as to avoid the suspension system 100 from being damaged due to the obstacle when the hydraulic cylinder 121 is not communicated with the fixed liquid storage module 25, and increase the rigidity of the suspension system 100.
Referring again to fig. 2, the suspension system 100 further includes a height sensor 26, wherein the side of the hydraulic cylinder 121 adjacent to the plane of the opening is provided with the height sensor 26, and the height sensor 26 is electrically connected to the control device 14; height sensor 26 is configured to measure the distance between frame 15 and axle 16 of the wheel and to send the distance to control device 14.
The operation principle of the height sensor 26 is as follows: the height sensor 26 comprises a sensor shaft, a connecting rod arranged at the outer end of the shaft is connected with the suspension wall, a shading disc with a fixed number of narrow grooves is fixed on the shaft, four groups of light emitting diodes and phototriodes are symmetrically arranged on two sides of the shading disc to form four pairs of photoelectric couplers, when the height of the suspension system 100 changes, the vehicle body and the suspension arm do relative motion, and the connecting rod drives the shading disc to rotate together. When the groove on the light shielding disc is aligned with the coupler, the phototriode senses the light emitted by the light emitting diode through the groove, the photoelectric coupler outputs a conducting signal, otherwise, a cut-off signal is output, and vehicle body displacement information can be obtained according to the conducting signal and the cut-off signal, so that the height of the suspension system 100 is determined.
To sum up, the suspension system that this application embodiment provided still through setting up the energy storage module that is linked together with hanging the stock solution module to make the aerocar when bumping the barrier, the liquid in the pneumatic cylinder can flow into the energy storage module, with the rigidity that increases suspension system, still through setting up the accurate measurement of height that highly sensor in order to realize suspension system.
Referring to fig. 3, a flowchart of a method for controlling a flying car according to one embodiment of the present application is shown. The method comprises the following steps:
step 301 receives a control instruction for a suspension system.
The control instructions are used to instruct the flying vehicle to adjust the height of the suspension system. In some embodiments, the control instructions include a first control instruction for instructing the flying vehicle to reduce the height of the suspension system. In some embodiments, the control instructions include a second control instruction for instructing the flying vehicle to increase the height of the suspension system.
The height of a suspension system refers to the distance between the frame of the flying car to which the suspension system is connected and the axle of the wheel. The height adjustment instructions carry the desired height of the suspension system. The desired height of the suspension system refers to the height of the suspension system desired by the user.
In some embodiments, the flying car includes a human-machine interface (Human Machine Interface, HMI) that displays a height adjustment control for the suspension system, and if a trigger signal for the height adjustment control is received, a height adjustment instruction for the suspension system is received. In some possible implementations, the desired height of the suspension system is preset. In other possible implementations, the altitude adjustment control is a progress bar, the user triggers the altitude adjustment instruction by adjusting the progress control in the progress bar, and the control device of the flying vehicle determines the desired altitude of the suspension system according to the position of the progress control.
In other embodiments, the aerocar is provided with a rocker, different positions of the rocker correspond to different gears, and different gears correspond to different desired heights of the suspension system, so that the height adjustment instruction can be obtained by adjusting the gear corresponding to the rocker, and the height corresponding to the adjusted gear of the rocker is the desired height of the suspension system.
The suspension system comprises a height sensor, wherein the height sensor is electrically connected with a control device of the suspension system, and the height sensor measures the actual height of the suspension system and sends the actual height to the control device.
In step 303, if the desired height of the suspension system is different from the actual height, the switch module of the suspension system is controlled to conduct the first path to adjust the actual height of the suspension system, so that the actual height of the suspension system approaches the desired height of the suspension system.
When the volume of the liquid in the suspension liquid storage module changes, the piston moves back and forth along the height direction of the suspension liquid storage module, the height of the stretching rod extending out of the opening changes along with the change of the height, and the distance between the frame connected with the suspension system and the axle of the wheel (namely the height of the suspension system) is further changed.
In some embodiments, the control instructions include first control instructions, step 303 being implemented when the flying car is traveling on the ground as: if the actual height of the suspension system is larger than the expected height of the suspension system, a switch module in the suspension system is controlled to conduct a first passage d according to a first control instruction, liquid in a suspension liquid storage module flows to a fixed liquid storage module, and the distance between a frame connected with the suspension system and an axle of a wheel is reduced until the actual height of the suspension system is smaller than or equal to the expected height of the suspension system. When the flying car is running on land, when the switch module is opened, the first passage is conducted, the suspension system is pulled by the sprung mass (namely the frame of the flying car), liquid in the suspension liquid storage module flows to the fixed liquid storage module, liquid contained in the suspension liquid storage module is reduced, then the piston moves towards the direction deviating from the opening, the length of the pull rod extending out of the opening is reduced, and the distance between the frame connected with the suspension system and the axle of the wheel is reduced.
In this embodiment, if the actual height of the suspension system is less than or equal to the desired height of the suspension system, the switch module in the suspension system is controlled to intercept the first path to lock the height of the suspension system. Optionally, the height sensor measures the actual height of the suspension system at intervals of a preset time and sends the actual height to the control device, and the control device compares the actual height of the suspension system with the expected height and determines whether to continuously adjust the height of the suspension system according to the comparison result. If the actual height of the suspension system is smaller than or equal to the expected height of the suspension system, a switch module in the suspension system is controlled to be closed to cut off the first passage, and at the moment, the suspension liquid storage module is not communicated with the fixed liquid storage module any more, and the volume of liquid in the suspension liquid storage module is not changed any more, so that the height of the suspension system can be locked.
In other embodiments, the control instructions include a second control instruction, step 303 being implemented when the flying car is traveling in the air: if the actual height of the suspension system is smaller than the expected height of the suspension system, a switch module in the suspension system is controlled to conduct a first passage, the switch module in the suspension liquid storage module is opened, liquid in the fixed liquid storage module flows to the suspension liquid storage module, and the distance between a frame connected with the suspension system and an axle of a wheel is increased until the actual height of the suspension system is larger than or equal to the expected height of the suspension system. When the flying car runs in the air, when the switch module is opened, the first passage is communicated, the suspension system is subjected to the gravity action of the wheels to generate a siphoning phenomenon, liquid in the fixed liquid storage cylinder is sucked into the suspended liquid storage module, the liquid contained in the suspended liquid storage module 12 is increased, then the piston moves towards the direction of the opening, the length of the stretching rod extending out of the opening is increased, and the distance between the frame connected with the suspension system and the axles of the wheels is further increased.
In this embodiment, if the actual height of the suspension system is greater than or equal to the desired height of the suspension system, the switch module in the suspension system is controlled to block the first passage to lock the height of the suspension system. Optionally, the height sensor measures the actual height of the suspension system at intervals of a preset time and sends the actual height to the control device, and the control device compares the actual height of the suspension system with the expected height and determines whether to continuously adjust the height of the suspension system according to the comparison result. If the actual height of the suspension system is greater than or equal to the expected height of the suspension system, a switch module in the suspension system is controlled to be closed to cut off the first passage, and at the moment, the suspension liquid storage module is not communicated with the fixed liquid storage module any more, and the volume of liquid in the suspension liquid storage cylinder is not changed any more, so that the height of the suspension system can be locked.
In some embodiments, when the flying car is on the ground, if the first passage controlled by the first control valve is cut off, the second control valve is controlled to conduct the second passage, so that the rigidity of the suspension system is increased, and damage to the suspension system caused by the flying car when the flying car encounters an obstacle is avoided.
In summary, in the method for controlling a flying vehicle according to the embodiment of the present application, after receiving the height adjustment instruction for the suspension system, whether the actual height and the desired height of the suspension system are the same is compared, if the actual height and the desired height are different, the switch module of the suspension system is controlled to conduct the first passage, and the liquid circulates between the suspension liquid storage module and the fixed liquid storage module in the suspension system, so that the volume of the liquid in the suspension liquid storage module is changed, the piston is further moved along the height direction of the hydraulic cylinder, and the length of the extension opening of the pull rod is also changed, so that the actual height of the suspension system can approach the desired height of the suspension system. Because the suspension system provided by the embodiment of the application does not need energy driving in the process of changing the height of the suspension system, the height of the suspension system is changed by the gravity of the frame or the wheels connected with the suspension system, and energy can be saved.
Referring to fig. 4, a flow chart of a method of controlling a flying vehicle according to one embodiment of the present application is shown. The method comprises the following steps:
Step 402 receives a first control command for a suspension system.
If yes, go to step 404, if no, ignore the first control command.
If yes, go to step 406, if no, go to step 407.
In step 406, the first control valve is controlled to conduct the first passage, the second control valve is controlled to intercept the second passage, and the liquid in the suspension liquid storage module is discharged.
After step 406, the control device performs step 405.
If yes, go to step 411, if no, ignore the second control command.
Step 411, a desired height of the suspension system is obtained.
At step 412, it is detected whether the desired height of the suspension system is less than the actual height.
If yes, go to step 413, if no, go to step 414.
In step 413, the first control valve is controlled to conduct the first passage, the second control valve is controlled to intercept the second passage, and the liquid in the liquid storage module is fixed to be discharged.
After step 413, the control device performs step 412.
At step 415, land line mode is entered.
As shown in fig. 5, the present application example further provides an apparatus for controlling a flying car, the apparatus comprising: an instruction receiving module 501, a height acquisition module 502 and a suspension system control module 503.
The instruction receiving module 501 is configured to receive a control instruction for a suspension system, where the control instruction carries a desired height of the suspension system. A height acquisition module 502 for acquiring an actual height of the suspension system, the height of the suspension system being indicative of a distance between a frame to which the suspension system is connected and an axle of a wheel. The suspension system control module 503 is configured to control the switch module in the suspension system to conduct the first path if the actual height of the suspension system is different from the desired height, so as to adjust the actual height of the suspension system, such that the actual height of the suspension system approaches the desired height of the suspension system.
In summary, after receiving the height adjustment instruction for the suspension system, the device for controlling the aerocar provided by the embodiment of the application compares whether the actual height and the expected height of the suspension system are the same, if they are different, the switch module for controlling the suspension system turns on the first passage, and the liquid circulates between the suspension liquid storage module and the fixed liquid storage module in the suspension system, so that the volume of the liquid in the suspension liquid storage module changes, and further the piston moves along the height direction of the hydraulic cylinder, and the length of the extension opening of the pull rod also changes, so that the actual height of the suspension system can approach the expected height of the suspension system. Because the suspension system provided by the embodiment of the application does not need energy driving in the process of changing the height of the suspension system, the height of the suspension system is changed by the gravity of the frame or the wheels connected with the suspension system, and energy can be saved.
In some embodiments, the control instructions include a first control instruction, and the suspension system control module 503 is configured to control the switch module in the suspension system to open the first passage according to the first control instruction if the actual height of the suspension system is greater than the desired height of the suspension system, the liquid in the suspension system suspending the liquid storage module flows to the fixed liquid storage module, and the distance between the axle of the wheel and the frame is reduced when the flying car is traveling on the ground.
In some embodiments, the suspension system control module 503 is further configured to control the switch module in the suspension system to block the first path if the actual height of the suspension system is less than or equal to the desired height of the suspension system.
In some embodiments, the control command includes a second control command, and the suspension system control module 503 is configured to control the switch module in the suspension system to conduct the first passage according to the second control command if the actual height of the suspension system is less than the desired height of the suspension system, the liquid in the fixed reservoir module in the suspension system flows to the suspension reservoir module, and the distance between the axle of the wheel and the frame increases.
In some embodiments, the suspension system control module 503 is further configured to control the switch module in the suspension system to block the first path if the actual height of the suspension system is greater than or equal to the desired height of the suspension system.
In some embodiments, the suspension system control module 503, the switch module includes a first control valve and a second control valve, and is further configured to control the second switch module to turn on the second path if the first path is blocked in the suspension system when the flying car is traveling on the ground.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described apparatus and modules may refer to corresponding procedures in the foregoing method examples, and are not repeated herein.
In several examples provided herein, the coupling of the modules to each other may be electrical, mechanical, or other form of coupling.
In addition, each functional module in each example of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.
As shown in fig. 6, the present example also provides a flying car 600 that includes the suspension system described in fig. 1 or 2.
In some embodiments, as shown in fig. 7, the flying car 700 further includes a processor 710 and a memory 720, wherein the memory 720 stores computer program instructions that when invoked by the processor 710, perform the method of controlling a flying car described above.
The Memory 720 may include a random access Memory 720 (Random Access Memory, RAM) or a Read-Only Memory 720 (Read-Only Memory). Memory 720 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 720 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method examples described below, and the like. The storage data area may also store data created by the vehicle in use (e.g., phonebook, audio-video data, chat-record data), etc.
As shown in fig. 8, the present examples also provide a computer readable storage medium 800 having stored therein computer program instructions 810, the computer program instructions 810 being callable by a processor to perform the methods described in the examples above.
The computer readable storage medium may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer readable storage medium comprises a non-volatile computer readable storage medium (non-transitory computer-readable storage medium). The computer readable storage medium 800 has storage space for program code to perform any of the method steps described above. The program code can be read from or written to one or more computer program products. The program code may be compressed, for example, in a suitable form.
The foregoing is merely a preferred embodiment of the present application, and is not intended to limit the present application in any way, and although the present application has been described with reference to the preferred embodiment, it is not intended to limit the present application, and any person skilled in the art shall not depart from the scope of the present application, and make some changes or modifications to the above embodiments without departing from the scope of the present application.
Claims (16)
1. The suspension system is characterized by comprising a suspension liquid storage module, a fixed liquid storage module, a switch module and a control device connected with the switch module;
the suspension liquid storage module comprises a hydraulic cylinder, a piston and a pull rod fixedly connected to the piston;
the hydraulic cylinder is provided with an opening, the piston is arranged in the hydraulic cylinder and can move along the inner wall of the hydraulic cylinder in the depth direction of the hydraulic cylinder, the pull rod is arranged at one side of the piston, which is close to the opening, and the pull rod extends out of the opening and is connected with an axle of a wheel of a flying automobile; one end of the hydraulic cylinder, which is away from the opening, is connected to the frame of the aerocar;
The cavity formed by the piston, which is away from the opening, and the hydraulic cylinder is communicated with the fixed liquid storage module through a first passage, and the switch module is arranged on the first passage;
the control device is configured to control the on-off state of the switch module so that the liquid in the suspension liquid storage module can flow to the fixed liquid storage module or the liquid in the fixed liquid storage module can flow to the suspension liquid storage module;
when the flying automobile runs in the air, the control device is configured to control the switch state of the switch module to allow the liquid in the fixed liquid storage module to flow to the suspension liquid storage module, the length of the pull rod extending out of the opening is increased, and the distance between the axle of the wheel and the frame is increased.
2. The suspension system of claim 1, wherein the control device is configured to control the switch module to open the first passage in response to a first control command to allow fluid in the suspension reservoir module to flow to the stationary reservoir module when the flying car is traveling on land, the length of the tie rod extending out of the opening being reduced and the distance between the axle of the wheel and the frame being reduced.
3. The suspension system of claim 1, wherein the control device is configured to control the switch module to open the first passage in response to a second control command to allow fluid in the stationary reservoir module to flow to the suspension reservoir module when the vehicle is traveling in the air.
4. A suspension system according to any one of claims 1 to 3, wherein the switch module comprises a valve; the control device is further configured to control the opening size of the valve to control the flow rate of the liquid between the hanging liquid storage module and the fixed liquid storage module.
5. A suspension system according to any one of claims 1 to 3, wherein the suspension system comprises an energy storage module, the switch module comprising a first control valve and a second control valve;
the first control valve is arranged in the first passage;
the second control valve is arranged in the second passage;
the control device is further configured to control the on-off state of the second control valve so that the liquid in the suspension liquid storage module can flow to the energy storage module or the liquid in the energy storage module flows to the suspension liquid storage module.
6. A suspension system according to any one of claims 1 to 3, wherein a height sensor is provided in the hydraulic cylinder on a side adjacent to the plane in which the opening is located, the height sensor being electrically connected to the control device; the height sensor is configured to measure a distance between an axle of the wheel and the frame.
7. A method of controlling a flying car, characterized by being applied to a flying car comprising the suspension system according to any one of claims 1 to 6, the method comprising:
receiving a control instruction for the suspension system, the control instruction carrying a desired height of the suspension system;
acquiring the actual height of the suspension system, wherein the height of the suspension system represents the distance between a frame connected with the suspension system and an axle of a wheel;
and if the actual height of the suspension system is different from the expected height, controlling a switch module in the suspension system to conduct a first passage so as to adjust the actual height of the suspension system, so that the actual height of the suspension system approaches to the expected height of the suspension system.
8. The method of claim 7, wherein the control instructions include first control instructions that control a switch module in the suspension system to open to adjust an actual height of the suspension system if the actual height of the suspension system is different from the desired height when the flying car is traveling on the ground, comprising:
And if the actual height of the suspension system is larger than the expected height of the suspension system, controlling a switch module in the suspension system to conduct a first passage according to the first control instruction, enabling liquid of a suspension liquid storage module in the suspension system to flow to a fixed liquid storage module, and enabling the distance between an axle of the wheel and the frame to be reduced.
9. The method of claim 8, wherein after controlling the switch module in the suspension system to turn on the first path, further comprising:
and if the actual height of the suspension system is smaller than or equal to the expected height of the suspension system, controlling a switch module in the suspension system to cut off the first passage.
10. The method of claim 7, wherein the control instructions include second control instructions that, when the flying car is traveling in the air, if the actual height of the suspension system is different from the desired height, control a switch module in the suspension system to turn on a first path to adjust the actual height of the suspension system, comprising:
and if the actual height of the suspension system is smaller than the expected height of the suspension system, controlling a switch module in the suspension system to conduct a first passage according to a second control instruction, enabling liquid of a fixed liquid storage module in the suspension system to flow to the suspension liquid storage module, and increasing the distance between an axle of the wheel and the frame.
11. The method of claim 10, wherein after controlling the switch module in the suspension system to turn on the first path, further comprising:
and if the actual height of the suspension system is greater than or equal to the expected height of the suspension system, controlling a switch module in the suspension system to control the first passage to be blocked.
12. The method of any of claims 7-11, wherein the switch module includes a first control valve and a second control valve, the method further comprising:
and when the flying automobile runs on the ground, if the first passage is cut off in the suspension system, the second control valve is controlled to conduct the second passage.
13. An apparatus for controlling a flying car, characterized by being applied to a flying car comprising the suspension system according to any one of claims 1 to 6, the apparatus comprising:
the control system comprises an instruction receiving module, a control module and a control module, wherein the instruction receiving module is used for receiving a control instruction aiming at the suspension system, and the control instruction carries the expected height of the suspension system;
a height acquisition module for acquiring an actual height of the suspension system, the height of the suspension system representing a distance between a frame to which the suspension system is connected and an axle of a wheel;
And the suspension system control module is used for controlling the switch module in the suspension system to conduct the first passage so as to adjust the actual height of the suspension system, so that the actual height of the suspension system approaches to the expected height of the suspension system if the actual height of the suspension system is different from the expected height.
14. A flying car comprising the suspension system of any one of claims 1 to 6.
15. The flying car of claim 14, further comprising a processor and a memory, the memory storing computer program instructions that are invoked by the processor to perform the method of controlling a flying car of any one of claims 7-12.
16. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a program code, which is callable by a processor for executing the method of controlling a flying car according to any one of claims 7-12.
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| CN202111422461.4A CN113928074B (en) | 2021-11-26 | 2021-11-26 | Suspension system, aerocar, method and device for controlling aerocar |
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| CN202111422461.4A CN113928074B (en) | 2021-11-26 | 2021-11-26 | Suspension system, aerocar, method and device for controlling aerocar |
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